CN1722038A - System and method for controlling a ground vehicle - Google Patents
System and method for controlling a ground vehicle Download PDFInfo
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- CN1722038A CN1722038A CN200510059724.4A CN200510059724A CN1722038A CN 1722038 A CN1722038 A CN 1722038A CN 200510059724 A CN200510059724 A CN 200510059724A CN 1722038 A CN1722038 A CN 1722038A
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- yaw rate
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- 238000005259 measurement Methods 0.000 claims description 8
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The present invention is a method for controlling a ground vehicle, for automated steering control of the vehicle or the like. The method of the present invention includes using a GPS receiver or the like and an inertial gyro or the like for providing automated steering control of the ground vehicle. A difference between a measured off-track error and a lateral error command is fed into a lateral error control loop, producing a lateral velocity command. Then, a difference between a measured lateral velocity and the lateral velocity command is fed into a lateral velocity control loop, producing a yaw rate command. Finally, a difference between a measured yaw rate, the yaw rate command, and a curved track yaw rate for the intended path of the vehicle is computed and fed into a yaw rate control loop, producing a valve command for steering the ground vehicle on or towards its intended path. Inputs such as measured wheel slip and the like are used to estimate the steering authority of the steered wheels of the vehicle; the estimated steering authority and/or the actions of a user driving the vehicle are used to adjust the gain of the yaw rate control loop.
Description
Technical field
Present invention relates in general to drive the control field automatically, relate in particular to a kind of system and method for controlling surface car.
Background technology
One is equipped with the surface car of automatic Ride Control System can comprise a navigation control system that links to each other with GPS (GPS) receiver apparatus etc.The data that get from the GPS receiver are used for determining inclined to one side rail error, and for example vehicle is from the measured value of its expection track deviation distance.Course error also is to be determined by the measured value of the measurement course of surface car and the difference between its anticipated orientation.The instrument of measuring vehicle rudder angle can be provided at last.Inclined to one side rail error, course error and rudder angle are imported in a plurality of nested ratio control circuits, and combined to provide surface car to drive control automatically with integral controller on the external circuit.
Also there are some limitation in present automatic Ride Control System, such as, the use in a plurality of ratio control circuits and a proportional plus integral control loop can not provide a strong solution in the vehicle speed range of broad, and uses the control loop of vehicle course information typically to need speed of a motor vehicle compensation.In addition, the one of ordinary skilled in the art will appreciate that, because such as the influence of slip rate etc., the rudder angle of measuring gained can not really demonstrate the validity of driving.Therefore, provide a kind of control surface car, such as the system and method for Vehicular automatic driving control, do not understand effective surface car rudder angle etc. when not needing to measure regardless of the speed of a motor vehicle, this will be very favourable.
Summary of the invention
Therefore, the invention provides the control that a kind of method is used for surface car, automatic driving control of vehicle etc.Method of the present invention can be utilized equipment such as a GPS receiver apparatus to obtain azimuth information and generate the navigation information that comprises orientation (latitude and longitude), route or course, speed, time etc.Be provided in devices such as inertia turning instrument on the surface car and can determine the yaw rate of vehicle by direct feedback information.This yaw rate can combine with the data that the GPS receiver apparatus receives drives control automatically to surface car.
Method of the present invention comprises the inclined to one side rail error of measuring vehicle, partially the measured value of the rail error distance that to be vehicle depart from from its expection track.The difference of rail error and lateral error instruction partially is input to a lateral error control loop, obtains vehicle to be brought back to the horizontal speed instruction on the expectation path.Laterally speed also can be measured.In one embodiment, laterally speed is to be compared with the desired path of this vehicle by the actual path of the vehicle that will measure, and combines with the advanced speed of the surface car of measuring and to obtain.In another specific embodiment, can horizontal speed be carried out differential by the methods such as variation of calculating the time per unit lateral error.
The measured value of horizontal speed and the horizontal difference input one horizontal rate control loop of speed instruction, obtain a yaw rate and instruct, this instruction can maneuver vehicle travel or travel to the expection track of this car.The yaw rate of surface car can be by measuring, and this yaw rate can be determined by the direct feedback information that is provided in the instruments such as inertia turning instrument on the vehicle.At last, calculate the difference of yaw rate and yaw rate instruction and the crooked route yaw rate of surface car expectation path, and with its input yaw rate control loop, can draw one can maneuver vehicle travel or travel to the valve instruction of the expection track of this car.
Input such as the pulling speed of the apparatus that slip rate measured value, vehicle drew etc. can be used to estimate the driving power of being handled wheel.The driving power of estimation can be used for adjusting the yaw rate control loop, thereby compensation is made in the loss of driving power.The yaw rate control loop also can be through adjusting the behavior that reflects the steering vehicle user.For example, one is using the user of user interface adjustment gain will increase the valve instruction of being determined by the yaw rate control loop, and the user who is perhaps rotating steering wheel for vehicle will break away from the valve instruction.
Be appreciated that the general introduction of front and detailed description subsequently all are exemplary and indicative, are not construed as limiting claim of the present invention.The accompanying drawing of a book part is for example understood embodiments of the invention as an illustration, and is used for explaining principle of the present invention with the general introduction of front.
Description of drawings
By with reference to the accompanying drawings, plurality of advantages of the present invention can be those skilled in the art will recognize that wherein better:
Fig. 1 is the described a kind of process flow diagram of controlling the method for surface car of explanation the present invention's one specific embodiment;
Fig. 2 is the concrete enforcement that the control algorithm is handled in explanation one, comprises the proportional gain control loop of the method that realizes that Fig. 1 is illustrated; And
Fig. 3 is the system block diagram that explanation is used in the gps system in the described method of Fig. 1.
Embodiment
In detail with reference to the preferred embodiments of the present invention, their some examples are shown in the drawings now.
Generally referring to figs. 1 to Fig. 3, the system and method for described automatic driving control that provides for the control of surface car of the present invention's one specific embodiment etc. has been described.The measured value of the inclined to one side rail error of the first step measuring vehicle of this specific implementation method, this inclined to one side rail error distance that to be vehicle depart from from its expection track.Next, the difference of rail error and lateral error instruction partially is input to a lateral error control loop, obtains vehicle to be brought back to the horizontal speed instruction on the expectation path.The horizontal speed of this vehicle is measured.In one embodiment, this horizontal speed is to be compared with the desired path of this vehicle by the actual path of the vehicle that will measure, and combines with the advanced speed of this surface car of measuring and to obtain.In another specific embodiment, can use variation that a series of lateral error value that records in time calculates the time per unit lateral error etc. this horizontal speed is carried out differential.
Next,, obtain a yaw rate and instruct the measured value of horizontal speed and the horizontal difference input one horizontal rate control loop of speed instruction, this instruction can maneuver vehicle travel or travel to the expection track of this car.The yaw rate of this surface car is measured, and this yaw rate can be determined by the direct feedback information that is provided in the instruments such as inertia turning instrument on the vehicle.At last, calculate the difference of yaw rate and yaw rate instruction and the crooked route yaw rate of surface car expectation path, and with its input yaw rate control loop, can draw one can maneuver vehicle travel or travel to the valve instruction of the expection track of this car.
In the specific embodiments of the invention, can be used to estimate the driving power of being handled wheel such as the information of the pulling speed of the apparatus that slip rate measured value, vehicle drew etc.The driving power of this estimation can be used for adjusting the yaw rate control loop, thereby compensation is made in the loss of driving power.The yaw rate control loop also can be through adjusting the behavior that reflects the steering vehicle user.For example, one is using the user of user interface adjustment gain will increase the valve instruction of being determined by the yaw rate control loop, and the user who is perhaps rotating steering wheel for vehicle will break away from the valve instruction.
With reference now to Fig. 1,, the method 100 of surface car is controlled in the input that this Figure illustrates a kind of driving power that application estimates in a specific embodiment of the present invention and yaw rate.With reference to figure 2, as the embodiment of concrete grammar 100, Fig. 2 provides and includes proportional gain control loop 202 and 204 and the manipulation of variable gain ratio control circuit 206 control algorithm 200; But, those of ordinary skill in the art will appreciate that, under the condition that does not depart from the scope of the invention and intention, some other different manipulation control algorithm also can be used for controlling surface car, comprises the manipulation control algorithm of application percentage integral control action rule, proportion integration differentiation (PID) control algorithm etc.In the step 102 of this concrete grammar 100, measured the inclined to one side rail error (lateral error) of vehicle.For example, this lateral error can be on the direction vertical with the expectation path cardinal principle, vehicle is from the measured value of its expectation path deviation distance or other, and this distance measure is compared with the position measurements in the expection place of this vehicle on expectation path by the GPS position measurements of this vehicle and obtained.In step 104, the difference input one lateral error control loop of lateral error and lateral error instruction setting point value, such as proportional gain lateral error control loop 202, to obtain a horizontal speed instruction set point output valve.For example, to access the difference of 0.0 centimetre of point value be 10.0 centimetres to the instruction of 10.0 centimetres of the lateral errors of surface car and lateral error as calculated.Then with in this difference of 10.0 centimetres input proportional gain lateral error control loop 202.In step 106, the horizontal speed instruction setting point value that surface car can be brought back on its expectation path is determined in proportional gain lateral error control loop 202.Preferably, in order to prevent the big angle of surface car ether near a line of its desired path and cross this line, this horizontal speed instruction is set up point value and can be restricted to 80% of surface car speed.For example, to set up point value be 4 mph.s (mph) in the horizontal speed instruction of setting the surface car that travels with 5 mph.s (mph).Those of ordinary skill in the art will appreciate that under the condition that does not depart from the scope of the invention and spirit, the different weight percentage that point value can comprise surface car speed is set up in this horizontal speed instruction.
Next, in step 108, determine the measured value of this lateral direction of car speed.In a specific embodiment of the present invention, the actual path of the surface car measured compared with this vehicle desired path obtains a horizontal speed.Combine with the speed of advancing of the surface car that records, this actual path and desired path can be used for calculating the horizontal speed of this surface car.For example, the actual path of the surface car that records has departed from 30 degree from its desired path, combines with the advanced speed 5mph of this surface car that records, and can calculate horizontal speed is 2.5mph., in another specific embodiment, can use a series of lateral error value that records in time and calculate variation of time per unit lateral error etc., thereby horizontal speed is carried out differential.In step 110, the difference input one horizontal rate control loop of point value is set up in the horizontal speed instruction of determining in the horizontal speed that records in the step 108 and the step 106, instructed the set point output valve such as obtaining a yaw rate in the horizontal rate control loop 204 of proportional gain.For example, the difference that point value 4mph is set up in the horizontal speed 3mph of surface car and horizontal speed instruction is 1mph as calculated, then the difference of this 1mph is imported the horizontal rate control loop 204 of proportional gain.In step 112, the yaw rate instruction setting point value that surface car can be brought back on its expectation path is determined in the horizontal rate control loop 204 of proportional gain, for example, it is 10 degree per seconds that point value is set up in the yaw rate instruction of determining in the horizontal rate control loop 204 of proportional gain.
Then, in the step 114 of this concrete grammar 100, obtain the yaw rate measured value of vehicle, for example, this yaw rate can be determined by the direct feedback information that is provided in the instruments such as inertia turning instrument on the vehicle.Fall into a trap in step 116 and to have calculated in yaw rate and the step 112 the poor of crooked route yaw rate sum that the yaw rate instruction of determining sets up point value and vehicle expectation path, with this difference input yaw rate control loop, for example can obtain valve instruction set point output valve in the variable gain ratio yaw rate control loop 206.For example, the difference that the crooked route yaw rate 9 degree per second sums of point value 10 degree per seconds and vehicle expectation path are set up in surface car yaw rate 8 degree per seconds and yaw rate instruction is 11 degree per seconds as calculated, then in the difference input variable gain ratio yaw rate control loop 206 with this 11 degree per second.In step 118, the valve instruction setting point value that surface car can be brought back on its expectation path is determined in variable gain ratio yaw rate control loop 206.
In the specific embodiments of the invention, can be used to estimate the driving power of being handled wheel such as the information of the pulling speed of the apparatus that slip rate measured value, vehicle drew etc.For example, by the comparison of theoretical speed of surface car and actual measurement speed, can calculate the slip rate of vehicle, this slip rate can also be used to estimation and drives power etc.The driving power of estimation can be used for adjusting the gain of variable gain ratio yaw rate control loop 206, thereby to being made compensation by the loss of the driving power of manipulation wheel.For example, the gain that increases variable gain ratio yaw rate control loop 206 may cause under the situation of higher slip rate vehicle by the increase of the driving power of handwheel etc.Preferably, the gain of variable gain ratio yaw rate control loop 206 also is inversely proportional to the advanced speed of vehicle, and an all adjustable control system in certain speed of a motor vehicle variation range can be provided.Those of ordinary skill in the art will appreciate that, variable gain ratio yaw rate control loop 206 also can be through adjusting the behavior that reflects the steering vehicle user, for example, one is using the user of adjustment gains such as user interface will increase the valves instruction setting point value of being determined by variable gain ratio yaw rate control loop 206, and the user who is perhaps rotating steering wheel for vehicle will break away from valve and instruct.
With reference to figure 3, this Figure illustrates the GPS receiver apparatus 300 that concrete grammar of the present invention is used.As described in Figure 1 be used in the inclined to one side rail error (lateral error) that GPS receiver apparatus 300 in the method 100 of the present invention can be used for measuring surface car.In addition, the actual measurement route of surface car is compared with its desired path, GPS receiver apparatus 300 can also be determined horizontal speed.
This GPS receiver apparatus 300 comprises: a GPS receiver device 302, a processing unit 304 and a user interface 306, these several parts are connected with each other by bus structure 308.Processing unit 304 can comprise a processor and a storer.User interface 306 can comprise a visual display unit.In a specific embodiment of the present invention, user interface 306 can accept to handle control information there from the user.In addition, user interface 306 also can be presented by the form of graphic user interface.
This GPS receiver device 302 receives bearing signal there from a GPS, and generation is based on the navigation information of GPS, comprise orientation (for example longitude and latitude), route or course, speed, time etc., these information will processed unit 304 and other parts of GPS receiver apparatus 300 use.In specific embodiment, GPS receiver device 302 receives positioning signal there from GPS, and this GPS is to be the space-based radio-navigation systems of U.S. government's management by USAF.But what be envisioned is that GPS receiver device 302 also optionally is applicable to other based on wireless navigation/GPS, such as the GLONASS navigational satellite system of being managed for the Russian Federation by Russian space center (RPA).In addition, in specific embodiments of the invention, this GPS receiver device 302 also can receive and use the locating information of the reinforcement that is provided by differential GPS (DGPS) system and wide area differential GPS (WADGPS) system, such as the STARFIRE by John-Deere (John Deere), Mo Lin (Moline) company and the exploitation of Illinois (Illinois) company
TMWide area differential gps system and wide area augmentation system (WAAS) of providing by FAA of U.S. government etc.In these embodiments, GPS receiver device 302 can comprise or connect a radio receiver that is used for receiving the differential errors update information.
A this GPS receiver device 302 and a navigation control system 310 interconnect with bus structure 308.Navigation control system 310 also can be moved according to the yaw rate information that yaw rate gyrostat 311 is received.For example, this navigation control system 310 can utilize the navigation information that GPS receiver device 302 and yaw rate gyrostat 311 provided to provide navigation or tutorial message for vehicle.This navigation control system 310 utilizes method 100 (Fig. 1) to control the steering controller of vehicle, such as driving operation valve 312 etc., thereby makes this vehicle ' on its expectation path.For example, in the specific embodiment of this invention, the manipulation control algorithm of application such as manipulation control algorithm 200 (Fig. 2) etc., this navigation control system 310 can be navigated in a zone and be driven out some parallel path or tracks.Can further be contemplated to, such as the manipulation of Fig. 2 control algorithm 200 discussion, the driving of vehicle also can be further by the user by user interface 306 or rotate steering wheel for vehicle by the user and control.
In the specific embodiment of this invention, described these methods can be finished by some instructions or by being installed readable software by certain.And be understandable that particular order in the disclosed method and classification step all are schematic examples.Based on decision design, be appreciated that particular order and the classification step in the said method can also rearrange within the scope of the present invention.Claim to a method subsequently only is to have represented different step with example sequence, particular order shown in being not limited to and classification step.
Can believe, by the description of front, the present invention with and plurality of advantages will be understood, and obviously, do not departing from the scope of the present invention and spirit or do not sacrifice under the situation of substantial advantage of the present invention, the formation of its parts, structure and arrangement can be done various changes.Above describe just its explanatory embodiment, this type of change is summarized and comprised to claims.
Claims (20)
1, a kind of method of controlling vehicle comprises:
The lateral error of measuring vehicle;
The difference of this lateral error and lateral error instruction is imported one first control loop, obtain a horizontal speed instruction;
One horizontal speed of measuring vehicle;
Should horizontal speed import one second control loop, obtain yaw rate instruction with the difference of this horizontal speed instruction;
One yaw rate of measuring vehicle; And
The difference of the crooked route yaw rate of instruction of this yaw rate and yaw rate and vehicle expectation path is imported one the 3rd control loop, obtain the instruction of steering vehicle.
2, the method for claim 1 is characterized in that, the bearing data that the desired orientation of vehicle and GPS (GPS) receiver apparatus are received is compared and obtained the lateral error of this vehicle.
3, the method for claim 1 is characterized in that, the actual path of vehicle is compared with desired path, and combine with the advanced speed of vehicle and to obtain the horizontal speed of this vehicle.
4, method as claimed in claim 3 is characterized in that, the actual path of this vehicle is to be determined by the data that the GPS receiver apparatus receives.
5, method as claimed in claim 3 is characterized in that, the advanced speed of this vehicle is to be determined by the data that the GPS receiver apparatus receives.
6, the method for claim 1 is characterized in that, the horizontal speed of this vehicle is that the calculating by the variation of a plurality of time per unit lateral errors records.
7, the method for claim 1 is characterized in that, this yaw rate is to be recorded by the direct feedback information that is provided in the inertia turning instrument on the vehicle.
8, the method for claim 1 is characterized in that, this yaw rate is that the calculating of the variation of the measurement of bearing value that receives by a plurality of time per unit GPS receiver apparatus records.
9, the method for claim 1 is characterized in that, also comprises:
One slip rate of measuring vehicle, and
Utilize this slip rate estimating vehicle by the driving power of handwheel,
The gain that is used for adjusting the yaw rate control loop by the driving power of handwheel of this estimation.
10, the method for claim 1 is characterized in that, also comprises:
Measurement is reached by a pulling speed of the apparatus that vehicle drew
Utilize this apparatus the pulling speed estimating vehicle by the driving power of handwheel,
The gain that is used for adjusting the yaw rate control loop by the driving power of handwheel of this estimation.
11, the method for claim 1 is characterized in that, also comprises: measure at least one input from this vehicle user, this at least one input is used for adjusting this yaw rate control loop.
12, the method for claim 1 is characterized in that, being used for the instruction of steering vehicle is valve instruction.
13, the method for claim 1 is characterized in that, being used for the instruction of steering vehicle is to be used for driving this vehicle to be travelled in its path along expection.
14, the method for claim 1 is characterized in that, being used for the instruction of steering vehicle is to be used for driving this vehicle to make it drive towards the path of expection.
15, the method for claim 1 is characterized in that, a loop in first, second and the 3rd control loop is the proportional gain control loop at least.
16, the method for claim 1 is characterized in that, the 3rd control loop is one the ratio control circuit of variable gain to be arranged.
17, a system of vehicle control comprises:
One from GPS reception positioning signal, and generates GPS (GPS) receiver of azimuth information for vehicle;
Thereby one handles the navigation control system information processing system that obtains with azimuth information;
Wherein, this navigation control system inputs to first control loop to the difference of lateral error that records and lateral error instruction, obtains a horizontal speed instruction; The horizontal speed that records and the difference of laterally speed instruction are imported one second control loop, obtain yaw rate instruction; The difference of the crooked route yaw rate of the yaw rate that records and yaw rate instruction and vehicle expectation path is imported one the 3rd control loop, obtain the instruction of a steering vehicle.
18, a kind of method of vehicle control comprises:
One lateral error of measuring vehicle;
The difference of lateral error and lateral error instruction is imported one first control loop, obtain horizontal speed instruction;
One horizontal speed of measuring vehicle;
The difference of horizontal speed and laterally speed instruction is imported one second control loop, obtain the yaw rate instruction;
The yaw rate of measuring vehicle; And
The difference of the crooked route yaw rate of instruction of yaw rate and yaw rate and vehicle expectation path is imported one the 3rd control loop, obtains the instruction of steering vehicle,
Wherein, the bearing data that the lateral error of vehicle receives the desired orientation of vehicle and GPS (GPS) receiver apparatus is compared and is obtained, and
The horizontal speed of vehicle is that the actual path of vehicle is compared with desired path, and combines with the advanced speed of vehicle and to obtain.
19, method as claimed in claim 18 is characterized in that, yaw rate is recorded by the direct feedback information that is provided in the inertia turning instrument on the vehicle.
20, method as claimed in claim 18 is characterized in that, the calculating of the variation of the measurement of bearing value that yaw rate receives by a plurality of time per unit GPS receiver apparatus records.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US10/885,316 | 2004-07-06 | ||
| US10/885,316 US6901319B1 (en) | 2004-07-06 | 2004-07-06 | System and method for controlling a ground vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1722038A true CN1722038A (en) | 2006-01-18 |
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| CN200510059724.4A Pending CN1722038A (en) | 2004-07-06 | 2005-03-29 | System and method for controlling a ground vehicle |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US6901319B1 (en) |
| CN (1) | CN1722038A (en) |
| AR (1) | AR049963A1 (en) |
| AU (1) | AU2005323450A1 (en) |
| BR (1) | BRPI0512972A (en) |
| CA (1) | CA2572801A1 (en) |
| WO (1) | WO2006073471A2 (en) |
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2004
- 2004-07-06 US US10/885,316 patent/US6901319B1/en active Active
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2005
- 2005-03-29 CN CN200510059724.4A patent/CN1722038A/en active Pending
- 2005-05-23 WO PCT/US2005/017911 patent/WO2006073471A2/en not_active Application Discontinuation
- 2005-05-23 BR BRPI0512972-9A patent/BRPI0512972A/en not_active Application Discontinuation
- 2005-05-23 CA CA002572801A patent/CA2572801A1/en not_active Abandoned
- 2005-05-23 AU AU2005323450A patent/AU2005323450A1/en not_active Abandoned
- 2005-07-05 AR ARP050102790A patent/AR049963A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110531750A (en) * | 2018-05-23 | 2019-12-03 | 百度（美国）有限责任公司 | The embedded LQR of PID for automatic driving vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2006073471A2 (en) | 2006-07-13 |
| WO2006073471A3 (en) | 2006-08-31 |
| BRPI0512972A (en) | 2008-04-22 |
| AU2005323450A1 (en) | 2006-07-13 |
| AR049963A1 (en) | 2006-09-20 |
| CA2572801A1 (en) | 2006-07-13 |
| US6901319B1 (en) | 2005-05-31 |
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